KR20200103464A - Vehicle control apparatus and method - Google Patents

Abstract

The present invention relates to a device and method for controlling a vehicle. The device comprises: a sensing unit detecting information on intention of taking a vehicle out of a first vehicle and surrounding information of a second vehicle double-parked around the first vehicle; a vehicle control unit controlling autonomous movement of the second vehicle; and a processing unit instructing the vehicle control unit to determine whether there is the intention of taking the vehicle out of the first vehicle based on the information on the intention of taking a vehicle out, generate a movement plan of the second vehicle based on the surrounding information if there is the intention of taking the vehicle out, and moving the second vehicle according to the movement plan.

Description

Vehicle control device and method {VEHICLE CONTROL APPARATUS AND METHOD}

The present invention relates to a vehicle control apparatus and method for moving and parking a vehicle double parked around a parked vehicle.

The parking problem is becoming more serious as the number of vehicles held rapidly increases in preparation for the speed of parking space expansion. In particular, drivers frequently double-park a vehicle due to a lack of parking space. However, such double parking has a problem that makes it difficult or impossible to exit other vehicles.

KR20180041511A KR101754888B1

An object of the present invention is to provide a vehicle control apparatus and method for moving and parking a vehicle double parked around a parked vehicle.

In order to solve the above problems, a vehicle control device for controlling the movement of a second vehicle double parked around a first vehicle according to an embodiment of the present invention includes information on the unloading intention of the first vehicle and the second vehicle. When there is an unloading intention of the first vehicle based on the detection unit for detecting surrounding information of the vehicle, a vehicle controller for controlling autonomous movement of the second vehicle, and the unloading intention information And a processing unit for instructing the vehicle control unit to generate a movement plan of the second vehicle based on the surrounding information and to move the second vehicle according to the movement plan.

The sensing unit includes a distance sensor for sensing a separation distance between the first vehicle and the surrounding objects of the second vehicle based on the second vehicle, and a camera for photographing a surrounding image of the second vehicle. do.

The processing unit detects the movement of the first vehicle by analyzing distance information measured by the distance sensor and the surrounding image acquired through the camera, and the intention to unload the first vehicle according to the movement of the first vehicle. It is characterized in that to determine.

The sensing unit further includes an impact sensor for detecting an impact applied to the exterior of the second vehicle, and the processing unit may determine an intention to unload the first vehicle according to a point where the impact is applied.

The vehicle control apparatus further includes a communication unit for performing wireless communication with the first vehicle, and the processing unit determines an unloading intention of the first vehicle according to whether or not a vehicle movement request of the first vehicle is received through the communication unit. It is characterized by judging.

The vehicle control apparatus further includes a communication unit for performing wireless communication with the first vehicle, and the processing unit includes the first vehicle according to whether the start of the first vehicle through the communication unit is switched from an off state to an on state. It characterized in that it determines the intention to leave the vehicle.

When the first vehicle has an intention to unload, the processor determines whether unloading of the first vehicle is possible only by moving the second vehicle based on surrounding information of the second vehicle, and whether or not the first vehicle can unload. In accordance with, it is characterized in that the movement plan of the second vehicle is generated.

The processing unit calculates the moving distance and direction of the second vehicle, and moves the second vehicle based on the calculated moving distance and direction when the first vehicle can be unloaded only by moving the second vehicle. It is characterized by instructing the control unit.

The processing unit selects and selects any one third vehicle among at least one or more third vehicles parked around the second vehicle as an additional movement target vehicle when it is impossible to unload the first vehicle only by moving the second vehicle. It is characterized by determining and notifying the required moving distance and direction of the third vehicle.

The processing unit is based on at least one or more of a distance between the second vehicle and the third vehicle, a center position of the second vehicle based on the center position of the first vehicle, and an unloading direction of the first vehicle. It characterized in that it selects a vehicle to be moved additionally.

When the first vehicle is unloaded, the processing unit instructs the vehicle controller to park the second vehicle in an empty parking space through the unloading of the first vehicle.

On the other hand, the vehicle control method for controlling the movement of a second vehicle double parked around a first vehicle according to an embodiment of the present invention includes the steps of detecting unloading intention information of the first vehicle, and unloading the first vehicle. Determining whether or not the first vehicle has an intention to unload based on the intention information, when the first vehicle has an intention to unload, generating a movement plan of the second vehicle based on surrounding information of the second vehicle And controlling the movement of the second vehicle according to the movement plan.

The step of detecting the unloading intention information may include detecting a distance between the first vehicle and the second vehicle through a distance sensor, and acquiring a surrounding image of the second vehicle through a camera.

The step of determining whether there is an intention to unload the vehicle may include analyzing distance information measured by the distance sensor and the surrounding image acquired through the camera to detect the movement of the first vehicle, and the movement of the first vehicle. It characterized in that it determines the outgoing intention of the first vehicle according to.

The step of determining whether there is an intention to unload the vehicle may include determining an intention to unload the first vehicle according to a point to which the impact is applied when an impact applied to the exterior of the second vehicle is detected.

The determining whether there is an intention to unload the vehicle may include determining an intention to unload the first vehicle according to whether or not the vehicle movement request is received by the first vehicle.

The step of generating the movement plan of the second vehicle includes determining whether the first vehicle can be unloaded only by the movement of the second vehicle based on the surrounding information of the second vehicle, and unloading the first vehicle And generating a movement plan of the second vehicle according to the availability.

In the step of determining whether it is possible to unload the first vehicle, if the unloading of the first vehicle is possible only by the movement of the second vehicle, the movement distance and direction of the second vehicle are calculated based on the calculated movement distance and direction. Thus, it is characterized in that the movement of the second vehicle is controlled.

In the step of determining whether it is possible to unload the first vehicle, if it is impossible to unload the first vehicle only by moving the second vehicle, one of at least one third vehicle parked around the second vehicle Selecting a third vehicle as an additional vehicle to be moved, generating a movement plan of the second vehicle and the selected third vehicle, and autonomous movement of the second vehicle and the selected third vehicle according to the movement plan It characterized in that it comprises the step of controlling.

In the step of selecting the additional moving target vehicle, one of a distance between the second vehicle and the third vehicle, a center position of the second vehicle based on the center position of the first vehicle, and an unloading direction of the first vehicle It characterized in that the additional movement target vehicle is selected based on at least one or more.

After the step of controlling the movement of the second vehicle, when it is confirmed that the first vehicle has been unloaded, the second vehicle is parked in an empty parking space by the unloading of the first vehicle.

According to the present invention, since the intention to leave the parked vehicle is grasped to support the moving parking of the vehicle double parked around the parked vehicle, even a vehicle that was unable to exit due to double parking can unload without inconvenience.

1 is a block diagram of a vehicle control apparatus according to an embodiment of the present invention.
2 is a flow chart illustrating a vehicle control method according to an embodiment of the present invention.
3A to 3C are views showing a first example for explaining autonomous movement of a dual-parking vehicle according to the present invention.
4A to 4C are views showing a second example for explaining the autonomous movement of a dual parking vehicle according to the present invention.
5A to 5C are views showing a third example for explaining the autonomous movement of a dual parking vehicle according to the present invention.
6A and 6B are diagrams showing a fourth example for explaining autonomous movement of a dual parking vehicle according to the present invention.
7A and 7B are diagrams showing a fifth example for explaining the autonomous movement of a dual parking vehicle according to the present invention.
8 is a view showing a sixth example for explaining the autonomous movement of the dual parking vehicle according to the present invention.
9 is a block diagram showing a computing system for executing a vehicle control method according to an embodiment of the present invention.

Hereinafter, some embodiments of the present invention will be described in detail through exemplary drawings. In adding reference numerals to elements of each drawing, it should be noted that the same elements are assigned the same numerals as possible even if they are indicated on different drawings. In addition, in describing an embodiment of the present invention, when it is determined that a detailed description of a related known configuration or function interferes with an understanding of the embodiment of the present invention, the detailed description thereof will be omitted.

In describing the constituent elements of an embodiment of the present invention, terms such as first, second, A, B, (a), (b), and the like may be used. These terms are only used to distinguish the component from other components, and the nature, order, or order of the component is not limited by the term. In addition, unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which the present invention belongs. Terms such as those defined in a commonly used dictionary should be interpreted as having a meaning consistent with the meaning in the context of the related technology, and should not be interpreted as an ideal or excessively formal meaning unless explicitly defined in this application. Does not.

The present invention relates to a technology for allowing the parked vehicle to unload by moving the double-parked vehicle if it is impossible to unload the vehicle due to the double-parked vehicle.

In this specification, a vehicle already parked in a parking space, that is, a parked vehicle, is referred to as a'first vehicle', and a vehicle that is double-parked around the parked vehicle, that is, a double-parked vehicle, is referred to as a'second vehicle', and dual parking. Vehicles located in the vicinity of the vehicle (another dual-parking vehicle) are referred to as'third vehicles'.

1 is a block diagram of a vehicle control apparatus according to an embodiment of the present invention. In the present embodiment, a case in which the second vehicle, which obstructs the exit of the first vehicle, is moved to another position will be described as an example.

The vehicle control device is a device that is mounted on a second vehicle to control autonomous movement of the second vehicle, and includes a communication unit 110, a sensing unit 120, a memory 130, a vehicle control unit 140, and a processing unit 150. do.

The communication unit 110 enables the second vehicle to perform wireless communication with the first vehicle and/or the third vehicle. Here, the first vehicle and the third vehicle may include a communication device for wireless communication with the second vehicle. The communication unit 110 may support communication using a vehicle to everything (V2X) technology. V2X technology includes vehicle-to-vehicle communication (V2V), vehicle-to-infrastructure communication (V2I), vehicle-to-mobile device communication (Vehicle-to-Nomadic Devices, V2N), and/or in-vehicle communication. Communication (In-Vehicle Network, IVN) can be applied. In addition, the communication unit 110 is a wireless Internet technology such as WLAN (Wireless LAN) (WiFi), Wibro (Wireless broadband) and Wimax (World Interoperability for Microwave Access), Bluetooth (Bluetooth), NFC (Near Field Communication), RFID ( Short-range wireless communication such as Radio Frequency Identification) and infrared data association (IrDA), and/or Code Division Multiple Access (CDMA), Global System for Mobile communication (GSM), Long Term Evolution (LTE), and LTE-Advanced Wireless communication can be supported using mobile communication technology such as.

The detector 120 acquires surrounding information of the second vehicle through the distance sensor 121 and the camera 122. In addition, the detection unit 120 may detect the movement of the surrounding vehicle of the second vehicle, that is, the first vehicle through the distance sensor 121 and the camera 122.

The distance sensor 121 may measure (sens) a distance between the second vehicle and a nearby object (eg, a first vehicle, a third vehicle, an obstacle, and/or a pedestrian). The distance sensor 121 may include at least one of distance sensors such as a radar (Radio Detecting And Ranging), a lidar (Light Detection And Ranging, LiDAR), and an ultrasonic sensor. At least one or more of each distance sensor may be installed on at least one of the front, rear, upper and side surfaces of the vehicle.

The camera 122 acquires (photographs) an image around the second vehicle. The camera 122 includes images such as a charge coupled device (CCD) image sensor, a complementary metal oxide semi-conductor (CMOS) image sensor, a charge priming device (CPD) image sensor, and a charge injection device (CID) image sensor. It may be implemented with at least one or more of the sensors. The camera 122 may include an image processor (not shown) that performs image processing such as noise removal, color reproduction, file compression, image quality control, and saturation control on an image acquired through an image sensor.

The sensing unit 120 may further include an impact sensor 123 that senses an impact applied to the exterior of the second vehicle. The impact sensor 123 may be mounted inside a center pillar of the second vehicle. For example, when a user (driver) requesting vehicle movement hits the center pillar (B pillar), the impact sensor 123 measures the impact applied to the center pillar by the tapping and transmits it to the processing unit 150.

The memory 130 may store a program programmed so that the processing unit 150 performs a predetermined operation. The memory 130 may include an image analysis algorithm, a path generation algorithm, a moving plan algorithm, an autonomous driving algorithm, and the like.

The memory 130 includes a flash memory, a hard disk, a secure digital card (SD card), a random access memory (RAM), a static random access memory (SRAM), a read only memory, ROM), PROM (Programmable Read Only Memory), EEPROM (Electrically Erasable and Programmable ROM), EPROM (Erasable and Programmable ROM), registers, at least one storage medium of storage media such as a removable disk and web storage ( It can be implemented as a recording medium).

The vehicle controller 140 controls the movement (behavior) of the second vehicle according to the instruction of the processing unit 150. The vehicle controller 140 moves the second vehicle to another location according to the movement plan generated by the processing unit 150.

The vehicle control unit 140 includes a braking control unit 141, a drive control unit 142, a shift control unit 143, and a steering control unit 144. Each of the controllers 141, 142, 143, and 144 may include a processor and a memory.

The braking control unit 141 is an electric control unit (ECU) that controls deceleration of the second vehicle. The braking control unit 141 controls the braking pressure according to the instruction of the processing unit 150 to adjust the speed of the second vehicle. It is implemented with Electronic Stability Control (ESC).

The drive control unit 142 is an ECU that controls acceleration of the second vehicle. The driving control unit 142 controls the vehicle speed by adjusting the driving force according to the instruction of the processing unit 150. The driving control unit 142 may be implemented as an engine control unit that controls the operation of the engine or a motor control unit that controls the operation of a driving motor.

The shift controller 143 is an actuator for controlling a transmission (shift) of the second vehicle, and may be implemented as an electric shifter (Shift By Wire, SBW). The shift control unit 143 changes a gear stage (eg, D gear or R gear) according to the instruction of the processing unit 150.

The steering control unit 144 controls the steering of the second vehicle, and is implemented as a motor drive power steering (MDPS). The steering control unit 144 controls the steering angle according to the instruction of the processing unit 150.

The processing unit 150 controls the overall operation of the vehicle control device. The processing unit 150 includes Application Specific Integrated Circuit (ASIC), Digital Signal Processor (DSP), Programmable Logic Devices (PLD), Field Programmable Gate Arrays (FPGAs), Central Processing Unit (CPU), microcontrollers, and microprocessors. It may be implemented with at least one or more of (microprocessors).

When the driving of the second vehicle is stopped, the processing unit 150 may determine whether the second vehicle is double-parked based on a user input and/or gear stage information. For example, the processing unit 150 determines that the second vehicle is double parked when the driver selects the dual parking mode through the user interface (not shown) or sets the gear to the N (neutral) position and then turns off the engine and gets off the vehicle. When it is determined that the second vehicle is double parked, the processing unit 150 controls the shift control unit 143 to change the gear stage to the P stage and waits. Even when the start of the second vehicle is turned off, power is maintained to the communication unit 110, the sensing unit 120, and the processing unit 150.

The processing unit 150 detects the intention to unload the first vehicle (a vehicle in which the second vehicle is obstructing the unloading) through the communication unit 110 or the detection unit 120. That is, the processing unit 150 may detect a vehicle with an intention to leave the vehicle among vehicles parked around the second vehicle.

The processing unit 150 may monitor the movement of the first vehicle through the detection unit 120 to determine whether or not the first vehicle has an intention to unload. The processing unit 150 is based on the distance information between the second vehicle and the first vehicle measured by the distance sensor 121 and the position change of the first vehicle acquired by analyzing the surrounding image captured by the camera 122. The movement of the first vehicle is detected. The processing unit 150 may determine whether the first vehicle has an intention to leave the vehicle based on the movement of the first vehicle.

Meanwhile, the processing unit 150 may receive a vehicle movement request transmitted from the first vehicle through the communication unit 110. The vehicle movement request message received through the communication unit 110 may include identification information on the first vehicle desired to unload. The processing unit 150 may determine whether the first vehicle is willing to leave the vehicle according to whether or not the vehicle movement request is received. For example, the first vehicle outputs information on other vehicles located nearby to the display device, and when the driver of the first vehicle selects one of the displayed vehicles, the vehicle moves to the selected vehicle using the communication device. Request (moving parking). When the selected vehicle receives a vehicle movement request from the first vehicle, it is determined that the first vehicle wants to leave the vehicle.

Meanwhile, the processing unit 150 may receive start-up state information from the first vehicle through the communication unit 110. The processing unit 150 may determine whether or not the vehicle is intended to be unloaded according to whether the start of the first vehicle is switched from an off state to an on state through the communication unit 110.

On the other hand, the processing unit 150 may determine whether or not the first vehicle is willing to leave the vehicle according to whether or not the tapping is detected in a predetermined area on the exterior of the second vehicle. The processing unit 150 senses an impact applied to the exterior of the second vehicle through the impact sensor 123 in the detection unit 120, and when the detected impact is applied to a predetermined area, the first vehicle It is judged that there is a degree.

In addition, the processing unit 150 checks the starting state of the surrounding vehicle through the communication unit 110 when a shock is applied to the exterior of the second vehicle in a situation in which a plurality of vehicles exist around the second vehicle The first vehicle that is there can be identified. In other words, when the processing unit 150 detects the external impact of the second vehicle and there are a number of vehicles around the second vehicle, the communication unit 110 is not able to identify the first vehicle that is intended to leave the vehicle. By checking the starting state of the surrounding vehicles through the vehicle, the vehicle whose starting state has been switched from the off state to the on state is recognized as the first vehicle with an intention to unload.

The processing unit 150 determines the movement of the second vehicle when the first vehicle has an intention to unload. Subsequently, the processing unit 150 acquires surrounding information of the second vehicle through the detection unit 120 and determines whether the first vehicle can be unloaded only by moving the second vehicle based on the obtained surrounding information. At this time, the processing unit 150 calculates the required distance and direction that the second vehicle must move for unloading of the first vehicle, and compares the calculated required distance with the movable distance that the second vehicle can move in the current state. Depending on the result, it may be determined whether or not the first vehicle can be unloaded only by moving the second vehicle. For example, if the distance that the second vehicle can move is smaller than the distance to which the second vehicle should move, the processing unit 150 may determine that the first vehicle cannot be unloaded only by the movement of the second vehicle.

The processing unit 150 generates a movement plan for the movement of the second vehicle when the first vehicle can be unloaded only by the movement of the second vehicle. In other words, the processing unit 150 determines a position to move the second vehicle so as not to obstruct the unloading of the first vehicle and generates a path for reaching the determined position.

On the other hand, when the first vehicle cannot be unloaded only by the movement of the second vehicle, that is, when the movement of at least one or more third vehicles other than the second vehicle is additionally required, the processing unit 150 is at least parked around the second vehicle. Any one of the at least one third vehicle is selected as a target vehicle for additional movement. At this time, the processing unit 150 is an additional movement target based on at least one of the distance between the second vehicle and the third vehicle, the center position of the second vehicle based on the center of the first vehicle, and the unloading direction of the first vehicle. Select a vehicle.

For example, when the vehicle is located in front and rear of the second vehicle, respectively, the processing unit 150 determines the distance between the second vehicle and the front vehicle and the distance between the second vehicle and the rear vehicle through the distance sensor 121, respectively. A vehicle located further from the second vehicle is selected as an additional moving target vehicle by comparing the measured and measured distances.

Alternatively, the processing unit 150 determines which direction the center of the second vehicle is further skewed based on the center of the first vehicle through the distance sensor 121 and the camera 122, and the center of the second vehicle is further biased. The vehicle in the left direction is selected as the vehicle for additional movement.

Alternatively, the processing unit 150 receives information on the unloading direction from the first vehicle through the communication unit 110, and selects a front vehicle or a rear vehicle as an additional moving target vehicle according to the unloading direction of the first vehicle.

When the additional movement target vehicle is selected, the processing unit 150 generates a movement plan of the second vehicle and the additional movement target vehicle. In this case, the processing unit 150 calculates the required distance and direction that the additional moving target vehicle should move based on the distance information between the second vehicle and the additional moving target vehicle, and adds the calculated requested distance and direction information through the communication unit 110. It is transmitted to the vehicle to be moved.

The processing unit 150 controls the autonomous movement of the second vehicle according to the generated movement plan. The processing unit 150 controls autonomous movement of the second vehicle and the additional movement target vehicle according to the generated movement plan. When the processing unit of the vehicle control device mounted on the third vehicle selected as the additional vehicle to be moved receives a movement request through the communication unit, the third vehicle controls the vehicle control unit according to the received movement request and is as much as the requested distance requested from the second vehicle. Move. The processing unit 150 moves the second vehicle through the vehicle control unit 140 after moving the third vehicle.

After moving the second vehicle or the second vehicle and the additional vehicle to be moved, the processing unit 150 checks whether the first vehicle is unloaded. The processing unit 150 checks whether the first vehicle exits the vehicle after moving the second vehicle or the second vehicle and the additional vehicle to be moved.

When the unloading of the first vehicle is completed, the processing unit 150 parks the second vehicle in an empty parking space with the unloading of the first vehicle. The processing unit 150 parks the second vehicle in an empty parking space created by the exit of the first vehicle using a remote smart parking assist (RSPA) function.

2 is a flowchart illustrating a vehicle control method according to an embodiment of the present invention. In the present embodiment, the description will be made on the assumption that the second vehicle is double-parked around the first vehicle in order to facilitate understanding of the description.

The processing unit 150 of the vehicle control device mounted on the second vehicle obtains information about the intention to unload the first vehicle through the detection unit 120 (S110). When double parking of the second vehicle is confirmed, the processing unit 150 monitors the movement of the first vehicle, which is obstructed by the second vehicle, through the distance sensor 121 and the camera 122. That is, the processing unit 150 stores distance information of the first vehicle and the second vehicle measured by the distance sensor 121 and the surrounding image photographed by the camera 122 of the first vehicle. To collect.

The processing unit 150 checks the presence or absence of the intention to unload the first vehicle based on the information on the intention to unload the first vehicle (S120). The processing unit 150 determines whether the first vehicle wants to unload by analyzing distance information and surrounding images of the first vehicle and the second vehicle. For example, when the distance between the first vehicle and the second vehicle is shortened, the processing unit 150 determines that the first vehicle wants to unload. Meanwhile, if there is no change in the distance between the first vehicle and the second vehicle or the distance increases, the processing unit 150 determines that the first vehicle does not want to unload.

When the first vehicle has an intention to take out the vehicle, the processing unit 150 acquires surrounding information of the second vehicle double parked around the first vehicle by using the detection unit 120 (S130). The processing unit 150 obtains the distance between the first vehicle and the second vehicle and/or the distance between the second vehicle and the front and/or rear vehicle of the second vehicle through the distance sensor 121. Also, the processing unit 150 acquires an image around the second vehicle using the camera 122.

The processing unit 150 checks whether the first vehicle can be unloaded only by moving the second vehicle based on the acquired surrounding information of the second vehicle (S140). The processing unit 150 calculates a required distance and direction to which the second vehicle must move in order to unload the first vehicle based on the acquired surrounding information. Also, the processing unit 150 calculates a distance (movable distance) and a direction in which the second vehicle can move based on the acquired surrounding information. The processing unit 150 compares the calculated two pieces of information with each other and determines whether the first vehicle can be unloaded only by moving the second vehicle. For example, when the second vehicle must move 2m in the right direction or 3m in the left direction based on the first vehicle, the first vehicle can be unloaded, the second vehicle is 2m in the right direction or in the left direction. If it can travel 3.5m, it is decided that the exit of the first vehicle is possible. On the other hand, the processing unit 150 requires the second vehicle to move 2m in the right direction or 3m in the left direction, but the second vehicle is 1m in the right direction and 2.5m in the left direction. If m can be moved, it is determined that exiting of the first vehicle is impossible.

The processing unit 150 generates a movement plan of the second vehicle when it is possible to unload the first vehicle only by moving the second vehicle (S150). That is, the processing unit 150 generates a path for moving the second vehicle to another location that does not interfere with the unloading of the first vehicle. At this time, the processing unit 150 is based on the surrounding information of the second vehicle acquired through the detection unit 120 to reach another position (target position) to move the second vehicle and another position from the current position of the second vehicle. It creates a path, etc.

The processing unit 150 controls the autonomous movement of the second vehicle according to the generated movement plan (S160). The processing unit 150 controls the vehicle control unit 140 based on the generated movement plan to move the second vehicle to a position that does not interfere with the unloading of the first vehicle. The vehicle control unit 140 controls at least one of the braking control unit 141, the driving control unit 142, the shift control unit 143, and the steering control unit 144 according to the instruction of the processing unit 150 to autonomously move the second vehicle. Conduct.

Meanwhile, the processing unit 150 selects a vehicle to be additionally moved from among at least one or more third vehicles parked around the second vehicle when it is impossible to unload the first vehicle only by the movement of the second vehicle (S170). The processing unit 150 is a vehicle to additionally move any one of at least one or more third vehicles parked in the vicinity of the second vehicle when it is impossible to unload the first vehicle only by moving the second vehicle (additional movement target vehicle) Select by In this case, the processing unit 150 selects the additional moving target vehicle based on a distance and a relative position (orientation) separated from the second vehicle.

When the additional movement target vehicle is selected, the processing unit 150 generates a movement plan of the second vehicle and the additional movement target vehicle (S180). The processing unit 150 calculates a required distance to which the second vehicle and the third vehicle selected as an additional movement target should move, respectively, and notifies the selected third vehicle. For example, the processing unit 150 may transmit a message requesting a movement of 1 m through the communication unit 110 to the third vehicle when the second vehicle must move 3 m to unload the first vehicle but can only move 2 m. have.

The processing unit 150 controls autonomous movement of the second vehicle and the additional movement target vehicle according to the movement plan (S190). When the processing unit of the vehicle control device mounted on the third vehicle selected as the additional vehicle to be moved receives a movement request through the communication unit, the third vehicle controls the vehicle control unit according to the received movement request, and corresponds to the requested distance requested from the second vehicle. Move. The processing unit 150 moves the second vehicle through the vehicle control unit 140 after moving the third vehicle.

The processing unit 150 checks whether the unloading of the first vehicle is completed (S200). The processing unit 150 checks whether the first vehicle exits the vehicle after moving the second vehicle or the second vehicle and the additional vehicle to be moved.

The processing unit 150 parks the second vehicle in the empty parking space by the exit of the first vehicle when it is confirmed that the vehicle exits the first vehicle (S210). The processing unit 150 parks the second vehicle in an empty parking space created by the unloading of the first vehicle using the smart parking assist function.

Hereinafter, an example of controlling the autonomous movement of a dual parking vehicle according to the present invention will be described, but it is assumed that the first vehicle (V1) to the fifth vehicle (V5) are each provided with a vehicle control device to aid understanding of the description. Explained below.

3A to 3C are views showing a first example for explaining the autonomous movement of a dual parking vehicle according to the present invention.

As shown in FIG. 3A, when the second vehicle V2 is double-parked in front of the first vehicle V1 parked in the parking space, the second vehicle V2 is the first vehicle through the sensing unit 120. Monitor (V1). The second vehicle V2 detects the movement of the first vehicle V1 and determines whether the first vehicle V1 has an intention to leave the vehicle. For example, when the first vehicle V1 moves close to the second vehicle V2, the second vehicle V2 determines that the first vehicle V1 wants to unload.

The second vehicle V2 acquires surrounding information through the sensing unit 120 and analyzes the acquired surrounding information to determine the surrounding situation. The second vehicle V2 determines whether it is possible to leave the first vehicle V1 with only its own movement. Based on the surrounding information, the second vehicle V2 calculates the required distance that the second vehicle V2 needs to move to unload the first vehicle V1, and checks whether the calculated required distance can be moved. .

When the second vehicle V2 can move the requested distance, the second vehicle V2 instructs the vehicle controller 140 to move the vehicle by the required distance. The vehicle controller 140 moves the second vehicle V2 to another position by a required distance as shown in FIG. 3B.

The second vehicle V2 waits until the first vehicle V1 leaves the vehicle while moving to another position. Thereafter, the second vehicle V2 performs autonomous parking in an empty parking space through the exit of the first vehicle V1 (see FIG. 3C).

4A to 4C are views showing a second example for explaining the autonomous movement of a dual parking vehicle according to the present invention.

As shown in FIG. 4A, the second vehicle V2 is double-parking in front of the first vehicle V1, and the third vehicle V3 and the fourth vehicle V4 are respectively in front of and behind the second vehicle V2. ) Is parked, the processing unit 150 of the second vehicle V2 determines whether or not the first vehicle V1 is intending to leave the vehicle through the detection unit 120. When it is determined that the first vehicle V1 wants to leave the vehicle, the second vehicle V2 is determined only by the movement of the second vehicle V2 based on the surrounding information of the second vehicle V2 obtained by the sensing unit 120. Check if it is possible to leave the vehicle (V1). If it is impossible to leave the first vehicle V1 only by moving the second vehicle V2, the second vehicle V2 selects a vehicle to additionally move any vehicle among the third vehicle V3 and the fourth vehicle V4. Decide.

The second vehicle V2 measures the distance between the third vehicle V3 and the fourth vehicle V4, respectively, from the second vehicle V2 through the distance sensor 121. The second vehicle V2 compares the two measured distance information with each other, and selects the third vehicle V3 with a larger separated distance as the additional moving target vehicle. The second vehicle V2 requests the third vehicle V3 to move using wireless communication. The third vehicle V3 moves and parks at a different position as shown in FIG. 4B in response to a movement request of the second vehicle V2.

Thereafter, when the movement of the third vehicle V3 is completed, the second vehicle V2 moves by a determined required distance so that the first vehicle V1 can be unloaded as shown in FIG. 4C. Subsequently, the first vehicle V1 performs unloading.

5A to 5C are views showing a third example for explaining the autonomous movement of a dual parking vehicle according to the present invention.

In the situation where the second vehicle V2 double-parked in front of the first vehicle V1, the third vehicle V3 and the fourth vehicle V4 parked in front and rear of the second vehicle V2, respectively. When it is impossible to leave the first vehicle V1 only by moving the second vehicle V2, the second vehicle V2 selects a vehicle to be additionally moved from among the third vehicle V3 and the fourth vehicle V4. In which direction the center position L2 of the second vehicle V2 is based on the center position L1 of the first vehicle V1 based on the surrounding information acquired through the detection unit 120 of the second vehicle V2. Check if it is biased. The second vehicle V2 is the fourth vehicle V4 when the center position L2 of the second vehicle V2 is located in the right direction based on the center position L1 of the first vehicle V1 as shown in FIG. 5A. ) As the additional vehicle to be moved.

Thereafter, as shown in FIG. 5B, the fourth vehicle V4 performs autonomous movement according to the movement request of the second vehicle V2, and the second vehicle V2 has moved by the distance required by the fourth vehicle V4. Check. When the second vehicle V2 has moved by the distance requested by the fourth vehicle V4, the second vehicle V2 autonomously moves as much as the distance required for unloading the first vehicle V1.

6A and 6B are views showing a fourth example for explaining the autonomous movement of a dual parking vehicle according to the present invention.

In the situation where the second vehicle V2 double-parked in front of the first vehicle V1, the third vehicle V3 and the fourth vehicle V4 parked in front and rear of the second vehicle V2, respectively. When it is impossible to leave the first vehicle V1 only by moving the second vehicle V2, the second vehicle V2 selects a vehicle to be additionally moved from among the third vehicle V3 and the fourth vehicle V4. At this time, the second vehicle V2 checks the unloading direction of the first vehicle V1 through wireless communication with the first vehicle V1. When the second vehicle V2 confirms that the first vehicle V1 wants to leave the vehicle in the left direction, as shown in FIG. 6A, the second vehicle V2 requests the third vehicle V3 to move.

Thereafter, if the second vehicle (V2) and the third vehicle (V3) perform autonomous movement and do not interfere with the unloading of the first vehicle (V1), the first vehicle (V1) performs unloading in the left direction as shown in FIG. 6B. do.

7A and 7B are diagrams showing a fifth example for explaining autonomous movement of a dual parking vehicle according to the present invention.

In the situation where the second vehicle V2 double-parked in front of the first vehicle V1, the third vehicle V3 and the fourth vehicle V4 parked in front and rear of the second vehicle V2, respectively. If it is impossible to leave the first vehicle V1 only by moving the second vehicle V2, the second vehicle V2 selects a vehicle to be additionally moved from among the third vehicle V3 and the fourth vehicle V4. At this time, the second vehicle V2 checks the unloading direction of the first vehicle V1 through wireless communication with the first vehicle V1. As a result of the confirmation, the second vehicle V2 requests the fourth vehicle V4 to move the vehicle when the first vehicle V1 wants to exit the vehicle in the right direction as shown in FIG. 7A.

Thereafter, if the second vehicle V2 and the fourth vehicle V4 perform autonomous movement and do not interfere with the unloading of the first vehicle V1, the first vehicle V1 will unload in the right direction as shown in FIG. 7B. Perform.

8 is a view showing a sixth example for explaining the autonomous movement of a dual parking vehicle according to the present invention.

Referring to FIG. 8, in a situation in which the second vehicle V2 double-parks in front of the first vehicle V1, the third vehicle V3 and the fourth vehicle parked in front and rear of the second vehicle V2, respectively. Due to the vehicle V4, it is impossible to leave the first vehicle V1 only by the movement of the second vehicle V2, so the second vehicle V2 uses the third vehicle V3 as an additional vehicle to be moved according to a predetermined standard. Select.

The second vehicle (V2) is the third vehicle (V1) is moved by the distance that the second vehicle (V2) needs to move to the distance that the second vehicle (V2) can move, minus the distance that the second vehicle (V2) can move. Request to V3). The third vehicle V3 acquires surrounding information of the third vehicle V3 through the detection unit 120 and checks whether the second vehicle V2 can move by the requested distance based on the acquired surrounding information. If the third vehicle V3 cannot move the distance requested by the second vehicle V2, the third vehicle V3 requests the fifth vehicle V5 to move the vehicle by the insufficient distance.

Thereafter, the fifth vehicle V5 checks whether the third vehicle V3 can move as much as the required distance, and if the third vehicle V3 can move, performs autonomous movement. Subsequently, the third vehicle V3 performs autonomous movement as much as the distance requested by the second vehicle V2, and the second vehicle V2 performs autonomous movement as much as the travel distance required for unloading of the first vehicle V1. Perform.

9 is a block diagram showing a computing system for executing a vehicle control method according to an embodiment of the present invention.

Referring to FIG. 9, the computing system 1000 includes at least one processor 1100, a memory 1300, a user interface input device 1400, a user interface output device 1500, and a storage connected through a bus 1200. (1600), and a network interface (1700).

The processor 1100 may be a central processing unit (CPU) or a semiconductor device that processes instructions stored in the memory 1300 and/or the storage 1600. The memory 1300 and the storage 1600 may include various types of volatile or nonvolatile storage media. For example, the memory 1300 may include read only memory (ROM) and random access memory (RAM).

Accordingly, the steps of the method or algorithm described in connection with the embodiments disclosed herein may be directly implemented as hardware, software modules, or a combination of the two executed by the processor 1100. The software module resides in a storage medium such as RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, hard disk, removable disk, CD-ROM (i.e., memory 1300 and/or storage 1600). You may. An exemplary storage medium is coupled to the processor 1100, which is capable of reading information from and writing information to the storage medium. Alternatively, the storage medium may be integral with the processor 1100. The processor and storage media may reside within an application specific integrated circuit (ASIC). The ASIC may reside within the user terminal. Alternatively, the processor and storage medium may reside as separate components within the user terminal.

The above description is merely illustrative of the technical idea of the present invention, and those of ordinary skill in the art to which the present invention pertains will be able to make various modifications and variations without departing from the essential characteristics of the present invention. Accordingly, the embodiments disclosed in the present invention are not intended to limit the technical idea of the present invention, but to explain the technical idea, and the scope of the technical idea of the present invention is not limited by these embodiments. The scope of protection of the present invention should be interpreted by the following claims, and all technical ideas within the scope equivalent thereto should be interpreted as being included in the scope of the present invention.

110: communication department
120: detection unit
121: distance sensor
122: camera
123: shock sensor
130: memory
140: vehicle control unit
141: braking control unit
142: drive control unit
143: shift control section
144: steering control section

Claims (21)

In the vehicle control device for controlling the movement of the second vehicle double parked around the first vehicle,
A sensing unit that detects information about an unloading intention of the first vehicle and surrounding information of the second vehicle,
A vehicle controller that controls autonomous movement of the second vehicle, and
Based on the unloading intention information, it is determined whether there is an unloading intention of the first vehicle, and when there is the unloading intention, a movement plan of the second vehicle is generated based on the surrounding information, and the second vehicle is moved according to the movement plan. Vehicle control device comprising a processing unit instructing the vehicle control unit to move the vehicle.
The method of claim 1,
The sensing unit,
A distance sensor for sensing a separation distance between the first vehicle and the surrounding objects of the second vehicle based on the second vehicle, and
And a camera for photographing a surrounding image of the second vehicle.
The method of claim 2,
The processing unit detects the movement of the first vehicle by analyzing distance information measured by the distance sensor and the surrounding image acquired through the camera, and the intention to unload the first vehicle according to the movement of the first vehicle. Vehicle control device, characterized in that to determine.
The method of claim 1,
The sensing unit further includes an impact sensor for sensing an impact applied to the exterior of the second vehicle,
The vehicle control device, wherein the processing unit determines an intention to unload the first vehicle according to a point where the impact is applied.
The method of claim 1,
Further comprising a communication unit for performing wireless communication with the first vehicle,
And the processing unit determines an intention to unload the first vehicle according to whether or not the first vehicle has received a vehicle movement request through the communication unit.
The method of claim 1,
Further comprising a communication unit for performing wireless communication with the first vehicle,
And the processing unit determines an intention to unload the first vehicle according to whether the starting state of the first vehicle through the communication unit is switched from an off state to an on state.
The method of claim 1,
When the first vehicle has an intention to unload, the processor determines whether unloading of the first vehicle is possible only by moving the second vehicle based on surrounding information of the second vehicle, and whether or not the first vehicle can unload. According to the vehicle control device, characterized in that generating a movement plan of the second vehicle.
The method of claim 7,
The processing unit calculates the moving distance and direction of the second vehicle, and moves the second vehicle based on the calculated moving distance and direction when the first vehicle can be unloaded only by moving the second vehicle. Vehicle control device, characterized in that instructing the control unit.
The method of claim 7,
The processing unit selects and selects any one third vehicle among at least one or more third vehicles parked around the second vehicle as an additional movement target vehicle when it is impossible to unload the first vehicle only by moving the second vehicle. A vehicle control device, characterized in that, determining and notifying the moving distance and direction required for the third vehicle that has been set.
The method of claim 9,
The processing unit is based on at least one of a distance between the second vehicle and the third vehicle, a center position of the second vehicle based on the center position of the first vehicle, and an unloading direction of the first vehicle. Vehicle control device, characterized in that for selecting a vehicle to be moved additionally.
The method of claim 1,
And the processing unit instructs the vehicle control unit to park the second vehicle in an empty parking space through the unloading of the first vehicle when the first vehicle is unloaded.
In the vehicle control method for controlling the movement of a second vehicle double parked around a first vehicle,
Detecting information on intention to leave the first vehicle,
Determining the presence or absence of the intention to unload the first vehicle based on information about the intention to unload the first vehicle,
Generating a movement plan of the second vehicle based on surrounding information of the second vehicle when the first vehicle has an intention to unload, and
And controlling the movement of the second vehicle according to the movement plan.
The method of claim 12,
The step of detecting the outgoing intention information,
A vehicle control method, comprising detecting a distance between the first vehicle and the second vehicle through a distance sensor, and acquiring a surrounding image of the second vehicle through a camera.
The method of claim 12,
The step of determining whether there is an intention to leave the vehicle,
Analyzing the distance information measured by the distance sensor and the surrounding image acquired through the camera to detect the movement of the first vehicle and to determine the intention to unload the first vehicle according to the movement of the first vehicle Vehicle control method, characterized in that.
The method of claim 12,
The step of determining whether there is an intention to leave the vehicle,
When detecting an impact applied to the exterior of the second vehicle, the vehicle control method of claim 1, wherein the intention to leave the first vehicle is determined according to a point where the impact is applied.
The method of claim 12,
The step of determining whether there is an intention to leave the vehicle,
And determining an intention to leave the first vehicle according to whether or not the first vehicle has received a vehicle movement request.
The method of claim 12,
The step of generating the movement plan of the second vehicle,
Determining whether the first vehicle can be unloaded only by moving the second vehicle based on surrounding information of the second vehicle, and
And generating a movement plan of the second vehicle according to whether or not the first vehicle can be unloaded.
The method of claim 17,
In the step of determining whether it is possible to leave the first vehicle,
When the first vehicle can be unloaded only by the movement of the second vehicle, the movement of the second vehicle is controlled based on the calculated movement distance and direction by calculating the movement distance and direction of the second vehicle. Vehicle control method.
The method of claim 17,
In the step of determining whether it is possible to leave the first vehicle,
Selecting any one of at least one third vehicle parked around the second vehicle as an additional movement target vehicle when it is impossible to unload the first vehicle only by the movement of the second vehicle,
Generating a movement plan of the second vehicle and the selected third vehicle, and
And controlling autonomous movement of the second vehicle and the selected third vehicle according to the movement plan.
The method of claim 19,
In the step of selecting the additional moving target vehicle,
The additional movement target based on at least one of a distance between the second vehicle and the third vehicle, a center position of the second vehicle based on the center position of the first vehicle, and an unloading direction of the first vehicle Vehicle control method, characterized in that selecting a vehicle.
The method of claim 12,
After the step of controlling the movement of the second vehicle,
When it is confirmed that the first vehicle is leaving the vehicle, the second vehicle is parked in an empty parking space by the first vehicle leaving the vehicle.

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